version: 66.04
glider: 167
mission: 2
dive: 645
start: 9 5 109 7 52 22
data:
$ID,167
$MISSION,2
$DIVE,645
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22007.033
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2383
$C_ROLL_CLIMB,2365
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,103
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.600696
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,074426,2535.723,12250.169,35,4.6,54,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-64.0
$GPS2,075202,2535.802,12250.096,10,1.3,10,-3.7
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.204,-0.158
$KALMAN_X,11863.0,1074.4,313.9,-12549.1,1366.5
$KALMAN_Y,11194.8,508.1,444.1,-2876.3,1519.9
$MHEAD_RNG_PITCHd_Wd,132.5,76666,-25.0,-13.200
$D_GRID,889
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,53,0.00,0.00,-34.70,0.000,2,0.000,0.000,139,2416,2282
$GC,59,-1.50,-121.7,3.2,-2.1,6,124,8.05,2.05,-48.67,0.000,4,0.228,0.035,2093,1006,3989
$GC,250,-0.76,-121.7,64.4,-41.1,39,257,0.90,2.10,0.00,0.000,6,0.179,0.034,2330,2395,3990
$GC,598,-1.12,-121.7,111.5,-14.8,100,605,0.28,2.10,0.00,0.000,4,0.055,0.044,2205,3758,3993
$GC,822,-1.05,-121.7,139.7,-13.1,139,829,0.15,1.92,0.00,0.000,6,0.156,0.021,2244,2380,3994
$GC,1171,-1.18,-121.7,187.3,-18.4,200,1178,0.12,2.15,0.00,0.000,4,0.074,0.044,2188,3763,3995
$GC,1232,-1.01,-121.7,200.8,-23.6,210,1239,0.22,1.90,0.00,0.000,6,0.160,0.022,2250,2411,3996
$GC,1585,-1.21,-121.7,257.8,-13.1,271,1591,0.17,2.10,0.00,0.000,4,0.066,0.044,2166,3760,3996
$GC,1752,-0.97,-121.7,293.2,-23.2,300,1760,0.35,1.88,0.00,0.000,6,0.163,0.022,2262,2430,3996
$GC,2088,-1.26,-121.7,337.2,-11.9,334,2093,0.22,2.08,0.00,0.000,4,0.063,0.045,2166,3754,3996
$GC,2281,-1.12,-121.7,375.0,-18.3,350,2287,0.20,1.83,0.00,0.000,6,0.161,0.024,2218,2474,3995
$GC,2608,-1.28,-121.7,420.5,-12.9,381,2612,0.15,2.00,0.00,0.000,4,0.071,0.044,2152,3756,3993
$GC,2655,-1.16,-121.7,427.9,-16.6,385,2659,0.12,1.85,0.00,0.000,6,0.157,0.022,2202,2477,3993
$GC,2986,-1.27,-121.7,472.1,-13.5,416,2990,0.00,2.00,0.00,0.000,4,0.000,0.046,2195,3755,3993
$GC,3026,-1.32,-121.7,477.9,-14.4,419,3033,0.12,1.80,0.00,0.000,6,0.078,0.022,2143,2487,3993
$GC,3352,-1.27,-121.7,529.8,-14.0,441,3356,0.00,2.00,0.00,0.000,4,0.000,0.047,2137,3761,3990
$GC,3415,-1.14,-121.7,541.0,-17.0,443,3421,0.28,1.80,0.00,0.000,6,0.162,0.022,2211,2497,3990
$GC,3732,-1.34,-121.7,573.9,-10.4,459,3734,0.20,0.00,0.00,0.000,6,0.067,0.000,2137,2497,3987
$GC,4042,-1.29,-121.7,625.4,-17.1,474,4046,0.00,1.98,0.00,0.000,4,0.000,0.047,2127,3756,3985
$GC,4166,-1.12,-121.7,649.0,-19.0,479,4172,0.32,1.77,0.00,0.000,6,0.165,0.025,2215,2526,3984
$GC,4493,-1.38,-121.7,687.8,-11.7,495,4498,0.20,1.95,0.00,0.000,4,0.069,0.049,2126,3754,3980
$GC,4633,-1.22,-121.7,712.4,-19.2,501,4637,0.22,1.75,0.00,0.000,6,0.170,0.026,2184,2554,3980
$GC,4971,-1.38,-121.7,755.8,-12.1,517,4976,0.15,1.92,0.00,0.000,4,0.075,0.050,2126,3763,3977
$GC,5111,-1.26,-121.7,779.9,-17.7,523,5115,0.17,1.75,0.00,0.000,6,0.174,0.025,2169,2565,3975
$GC,5450,-1.37,-121.7,825.2,-12.6,539,5454,0.00,1.90,0.00,0.000,4,0.000,0.051,2165,3740,3973
$GC,5484,-1.41,-121.7,830.7,-14.0,540,5488,0.12,1.70,0.00,0.000,6,0.084,0.026,2119,2573,3973
$GC,5808,-1.32,-121.7,883.9,-17.0,556,5813,0.12,1.90,0.00,0.000,4,0.174,0.051,2148,3761,3971
$STATE,5833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5833,begin apogee
$GC,5844,-0.27,0.0,889.6,18.4,557,5941,1.15,0.00,92.12,1.334,6,0.162,0.000,2483,2358,3531
$STATE,5942,end apogee,CONTROL_FINISHED_OK
$STATE,5942,begin climb
$GC,5945,1.50,121.7,895.0,0.0,562,6057,1.58,2.35,103.12,1.294,4,0.051,0.044,3061,3757,3035
$GC,6311,0.55,121.7,866.3,15.1,578,6319,1.25,2.03,0.00,0.000,6,0.225,0.021,2763,2360,3030
$GC,6630,0.69,230.8,847.2,5.3,594,6728,0.12,2.35,90.05,1.278,4,0.089,0.049,2811,3742,2590
$GC,6876,0.59,230.8,816.4,15.7,605,6880,0.17,2.03,0.00,0.000,6,0.188,0.025,2776,2369,2585
$GC,7198,0.78,272.6,781.0,10.2,621,7241,0.15,2.28,34.38,1.227,4,0.077,0.049,2833,3750,2419
$GC,7389,0.68,272.6,749.3,18.2,629,7393,0.17,2.00,0.00,0.000,6,0.190,0.025,2801,2395,2415
$GC,7711,0.80,273.2,704.9,13.2,645,7716,0.12,2.17,0.00,0.000,4,0.084,0.048,2848,3754,2412
$GC,7799,0.66,273.2,689.7,18.4,649,7804,0.25,1.98,0.00,0.000,6,0.186,0.025,2794,2401,2412
$GC,8127,0.80,273.2,642.6,14.2,665,8132,0.12,2.17,0.00,0.000,4,0.083,0.049,2841,3758,2411
$GC,8247,0.69,273.2,621.9,17.2,670,8251,0.17,1.98,0.00,0.000,6,0.188,0.025,2808,2395,2411
$GC,8569,0.80,283.1,580.1,12.5,686,8583,0.00,2.20,9.00,1.039,4,0.000,0.050,2808,3741,2376
$GC,8648,0.80,283.1,567.9,16.2,689,8651,0.00,1.90,0.00,0.000,6,0.000,0.025,2815,2438,2375
$GC,8971,0.90,283.1,516.9,16.6,705,8975,0.15,2.17,0.00,0.000,4,0.078,0.029,2885,985,2374
$GC,9016,0.90,283.1,508.7,17.2,707,9020,0.00,2.22,0.00,0.000,6,0.000,0.033,2885,2436,2374
$GC,9352,0.81,283.1,445.1,20.5,736,9357,0.15,2.20,0.00,0.000,4,0.186,0.028,2855,985,2374
$GC,9426,0.92,283.1,429.3,19.3,742,9430,0.00,2.20,0.00,0.000,6,0.000,0.033,2855,2422,2373
$GC,9756,0.92,283.1,366.9,18.2,772,9760,0.00,2.10,0.00,0.000,4,0.000,0.051,2855,3751,2372
$GC,9971,0.83,283.1,322.3,20.4,791,9975,0.00,1.88,0.00,0.000,6,0.000,0.025,2865,2461,2372
$GC,10312,0.83,283.1,259.9,16.7,841,10317,0.00,2.05,0.00,0.000,4,0.000,0.049,2865,3750,2372
$GC,10360,0.73,283.1,251.3,17.6,849,10366,0.22,1.85,0.00,0.000,6,0.183,0.025,2815,2464,2371
$GC,10707,0.88,283.1,205.1,15.4,910,10713,0.15,2.05,0.00,0.000,4,0.079,0.048,2875,3750,2371
$GC,10766,0.76,283.1,193.6,21.6,920,10774,0.15,1.85,0.00,0.000,6,0.179,0.023,2830,2478,2371
$GC,11116,0.90,283.1,135.3,14.7,981,11123,0.12,2.03,0.00,0.000,4,0.083,0.046,2880,3755,2371
$GC,11148,0.82,283.1,129.6,18.1,986,11154,0.17,1.83,0.00,0.000,6,0.185,0.023,2846,2471,2371
$GC,11496,0.97,325.2,89.3,10.1,1047,11533,0.15,0.00,33.72,0.756,6,0.077,0.000,2906,2468,2205
$GC,11877,1.17,372.1,33.6,9.8,1113,11925,0.15,2.10,37.58,0.700,4,0.078,0.048,2966,3751,2012
$GC,12183,1.09,392.5,11.0,11.7,1166,12207,0.17,1.83,16.65,0.641,6,0.186,0.022,2933,2466,1929
$STATE,12250,end climb,SURFACE_DEPTH_REACHED
$STATE,12251,begin surface coast
$FINISH,1.9,0.999322
$STATE,12285,end surface coast,CONTROL_FINISHED_OK
$STATE,12285,begin surface
$SM_CCo,12307,62.25,0.646,0,0,1595,475.15
$SM_GC,2.90,0.00,0.00,62.25,0.000,0.000,0.646,138,2462,1595,-7.63,2.23,475.15
$IRIDIUM_FIX,2527.05,12249.71,301198,040420
$TT8_MAMPS,0.029146
$HUMID,1866
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.50
$XPDR_PINGS,6
$24V_AH,23.2,110.478
$10V_AH,10.5,57.578
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.300,104.000,416.625,62.250,0.000,30.633,31.801,222.618,8.500,0.000,0.000,10.602,2126.591,7166.170,569.832,2195.014,761.889,0.000,1693.151,0.000,2146.374,0.000,47.749,0.000
$DEVICE_MAMPS,227.799,51.389,1333.813,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.051,850.745,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63283,1183
$CAP_FILE_SIZE,136904,0
$CFSIZE,260165632,175861760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241,272.4,1
$GPS,050909,111954,2534.908,12249.473,40,1.1,40,-3.7